WO2023074069A1

WO2023074069A1 - Crane device

Info

Publication number: WO2023074069A1
Application number: PCT/JP2022/028896
Authority: WO
Inventors: 僚哉竹脇; 康治堀川; 裕吾及川; 健一塩出; 真弘大槻; 達也田上
Original assignee: 株式会社日立産機システム
Priority date: 2021-10-27
Filing date: 2022-07-27
Publication date: 2023-05-04
Also published as: JP2023065005A; CN118159485A

Abstract

Provided is a crane device with which it is possible for the workload involved in setting action information to decrease when general-purpose inverters are used, and with which it is moreover possible to easily confirm the action information.　A crane device comprising a plurality of driving electric motors including at least a winding electric motor (3) and a movement electric motor (5), general-purpose inverters (16, 17) for controlling each of the driving electric motors, and a higher-level control means (30) that is connected to each of the inverters via a communication unit and that controls the inverters, wherein the higher-level control means (30) is provided with an action information conversion means (32) for converting action information so as to correspond to action information of each of the inverters.

Description

crane equipment

The present invention relates to a crane device, and more particularly to an inverter-type crane device that inverter-controls a drive motor.

For example, in a building such as a factory, there is a hoisting motor that moves suspended loads such as manufactured structural parts in the vertical direction, and a moving motor that moves suspended loads along rails installed on the ceiling side. A crane device equipped with an electric motor is installed. Here, the hoisting electric motor and the moving electric motor may be referred to as driving electric motors below.

In such a crane device, the hoisting electric motor runs along the rail laid along the ceiling of the building, and the hoisting electric motor is equipped with a rope drum around which the wire rope is wound. This rope drum is rotated by a hoisting electric motor, and has a function of winding and unreeling a wire rope connected to a suspended load. Further, the crane device is provided with a moving electric motor for traveling on the rail, and by driving the moving electric motor, the hoisting electric motor is moved along the rail.

Such a crane device is described, for example, in Patent Document 1 (Japanese Unexamined Patent Application Publication No. 07-13094). The crane device described in Patent Document 1 aims to operate a plurality of drive motors in the crane device in accordance with various characteristics required for each. Power is supplied from the converter section, based on the instruction from the operation input device, the common calculation section reads the control conditions from the condition setting section of each drive motor, controls each inverter, and controls each inverter with a common regenerative power consumption resistor. It is configured to consume regenerative power.

JP-A-07-13094

By the way, considering the product cost and handling of the crane device, it is better to use a general-purpose inverter instead of a dedicated inverter that matches the above-mentioned inverter to each drive electric device.

However, when using general-purpose inverters, for example, it is necessary to individually set operation information such as command values and error codes used for control for each inverter, which requires a large number of man-hours. Further, when performing maintenance of the crane device, since command values and error codes are different for each inverter, it is necessary to confirm these with manuals for each inverter, which is troublesome. As described above, when using a general-purpose inverter, there is a problem that it takes a lot of man-hours to set the operation information, and it takes a lot of time and effort to check the operation information. Patent Document 1 does not disclose or suggest these problems or countermeasures against these problems.

An object of the present invention is to provide a crane device that can reduce the number of man-hours for setting operation information while using a general-purpose inverter, and that can easily check the operation information.

In order to solve the above problems, for example, the configurations described in the claims are adopted. The present invention includes a plurality of means for solving the above problems.
A plurality of driving motors including at least a hoisting motor and a moving motor, a general-purpose inverter for controlling each of the driving motors, and a host controller connected to each inverter via a communication unit and controlling the inverter. In the above crane apparatus, the host control means is provided with operation information conversion means for converting operation information into operation information corresponding to operation information of each inverter.

ADVANTAGE OF THE INVENTION According to this invention, when using a general-purpose inverter, the setting man-hour of operation information can be reduced, and also the crane apparatus which can confirm operation information easily can be provided.

It is a block diagram which shows the whole structure of an inverter type crane apparatus. It is a block diagram which shows the structure of the control system of an inverter type crane apparatus. 4 is a block diagram showing the configuration of a higher-level control means; FIG. FIG. 4 is an explanatory diagram for explaining operations of a display unit and an operation unit; FIG. 10 is an explanatory diagram for explaining a method of setting function codes; FIG. 4 is a configuration diagram showing a configuration (address map) for explaining functions of a motion information conversion unit; FIG. 10 is a flow chart showing a processing flow for changing setting values; FIG. FIG. 5 is an explanatory diagram for explaining how to change the unit of setting values; FIG. 4 is an explanatory diagram illustrating how to convert an error code for each inverter into a unified error code;

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. However, the present invention is not limited to the following embodiments, and various modifications and applications can be made within the technical concept of the present invention. is also included in the scope.

　Fig. 1 shows the overall configuration of an inverter-type crane device to which the present invention is applied, and Fig. 2 shows the configuration of a control system for an inverter-type crane device according to an embodiment of the present invention.

In FIG. 1, the inverter type crane device includes a crane hook 1, a wire rope 2, a hoisting induction motor 3, a hoisting drum 4, a traversing induction motor 5, a traversing wheel 6, a traversing girder 7, a traveling induction motor 8, It is composed of traveling wheels 9, traveling girder 10, hoisting/traverse inverter control device 15, operation input device 12 suspended from a cable, traveling inverter control device 13, and the like. Each of the hoisting induction motor 3, the traversing induction motor 5, and the traveling induction motor 8 incorporates an induction motor brake 14 (see FIG. 2).

The inverter-type crane device moves a load attached to a crane hook 1 vertically (Y direction, -Y direction arrows), i.e. move the load in the vertical direction. In addition, the traversing wheels 6 are rotated by the traversing induction motor 5 and moved in the left-right direction (indicated by arrows in the X direction and the -X direction) along the traversing girder 7 . Further, the traveling induction motor 8 rotates the traveling wheels 9 to move along the traveling girder 10 in the front-rear direction (indicated by arrows in the Z direction and the -Z direction).

As shown in FIG. 2, the hoisting/traverse inverter control device 15 incorporates a hoisting/traverse inverter control section (control means in the claims) 15, a hoisting inverter 16, and a traversing inverter 17. . Further, the running inverter control device 13 incorporates a running inverter control unit 18 and a running inverter 19 . The hoisting/traverse inverter control section 15 and the traveling inverter control section 18 are connected by a communication line 20 .

The hoisting induction motor 3 and the traversing induction motor 5 are controlled by a hoisting/traversing inverter control unit 15 stored in the hoisting/traversing inverter control device 11 . That is, when the operator inputs a predetermined instruction from the operation input device 12, the hoisting/traverse inverter control unit 15 controls the hoisting inverter 16 and the traversing inverter 17, so that the hoisting inverter 16 and the traversing inverter 17 provides operational information necessary for control. An encoder 21 is attached to the hoisting induction motor 3 , and rotation information of the hoisting induction motor 3 is input to the hoisting/traverse inverter control section 15 .

Then, the hoisting inverter 16 and the traversing inverter 17 apply the necessary frequency, voltage, and current to the hoisting induction motor 3 and the traversing induction motor 5, and simultaneously control the opening of the induction motor brake 14. As a result, in the case of the hoisting drum 4, the suspended load attached to the crane hook 1 is moved vertically without falling, and in the case of the traversing wheel 6, it traverses along the traversing girder 7. The wheel 6 is moved in the left-right direction.

Similarly, when the operator inputs a predetermined instruction from the operation input device 12, the traveling induction motor 8 attached to the traveling wheels 9 causes the traveling inverter control unit 18 stored in the traveling inverter control device 13 to operate the traveling inverter. 19, the traction inverter 19 applies the required frequency, voltage, and current to the traction induction motor 8, and at the same time controls the release of the induction motor brake 14, thereby driving the traction wheel 9 along the traction girder 10. Move forward and backward.

Furthermore, the hoisting/traverse inverter control device 15 is provided with a cloud communication unit 22 , and the cloud communication unit 22 is connected to the hoisting/traverse inverter control unit 15 via a communication line 23 . The communication unit 22 is connected by wireless communication to a cloud server 24 configured by a server having an arithmetic function, and the cloud server 24 is also connected by wireless communication to a portable display terminal 25 having a communication unit.

The cloud communication unit 22 is provided to remotely acquire and edit operation information without going to the location where the hoisting/traversing inverter device 11 is installed. The cloud communication unit 22 can acquire the operation information and transmit it to the cloud server 24 via the Internet communication network. Here, the information to be displayed on the display terminal 25 may be directly transmitted using, for example, short-range communication without going through the Internet communication network. As an example of the display terminal 25, a tablet terminal, a mobile phone (smartphone), a personal computer, or the like can be used.

Next, a specific embodiment of the present invention will be described. FIG. 3 shows a schematic configuration of a host control means 30 that controls a plurality of general-purpose inverters.

In FIG. 3, the host control means 30 is a control device that controls two (plural) inverters, the hoisting inverter 16 and the traversing inverter 17 . The host control means 30 includes a control section 31, an operation information conversion section 32, a storage section 33, a communication section 34, a display section 35, and an operation section 36, and further includes a rotation detection section for detecting the rotation of the hoisting induction motor 3. A rotation signal from the unit 37 is input. Signals from other detectors are also input to the controller 31 .

The hoisting inverter 16 and the traversing inverter 17 are each connected to the communication section 34 of the upper control means 30 via the communication line 26 . The operation information conversion unit 32 connected to the communication unit 34 selects operation information to be transmitted to each of the

inverters

16 and 17, performs mutual conversion of operation information (for example, command values), and unifies error codes. do.

The storage unit 31 stores setting values such as operation information of the inverter type crane device and operation information. This saved information is used for the conversion operation of the action information conversion unit 32 . The communication unit 34 is an interface for controlling the hoisting inverter 16 and the traversing inverter 17 via the communication means 26 .

The control unit 31 has a calculation function for controlling the conversion operation of the motion information conversion unit 32, the storage operation of the storage unit 31, the display operation of the display unit 35, and the operation operation of the operation unit 36. Furthermore, the rotation information of the rotation detection unit 37 is input to the control unit 31 . The rotation detector 37 reads the pulse output of the encoder attached to the hoisting induction motor 3, and obtains the rotation amount and rotation frequency of the motor in addition to the output frequency obtained from the inverter. In addition, the rotation detection unit 37 can set the number of pulses of the connected encoder, and by performing this setting, it is possible to detect the amount of rotation even if the specifications of the encoder are different.

Next, a method of setting operation information by the display unit 35 and the operation unit 36 in the host control means 30 will be described with reference to FIGS. 4 and 5. FIG.

In (A) of FIG. 4, the host control means 30 (here, the hoisting/traverse inverter control section) includes, for example, a display section 35 indicated by a dashed line that displays a maximum of four digit numbers and characters, and a "vertical direction , ”OK”, and ”CANCEL”. Each button is provided with a symbol (▲, ▼, etc.) indicating its function.

The switch button (up scroll) Up has an upward scroll function, the switch button (down scroll) Dn has a downward scroll function, the switch button (determine) Et has a determination function, and the switch button ( Cancel) Cn has a cancel function.

The display unit 35 is used to display the operating status of the crane device, function codes, setting values, error codes when errors are detected, and the like. For example, when displaying the error code "E01", a display such as the display example shown in FIG. 4B is performed.

When the switch button (scroll up) Up and the switch button (scroll down) Dn of the operation unit 36 are pressed while the function code or setting value is displayed on the display unit 35, the function code or the setting value is displayed in order. display contents can be switched. A switch button (determine) Et and a switch button (cancel) Dn are used to change the display mode.

Next, Fig. 5 shows an example of selecting a function code. Here, the function code is a combination of alphabets and numbers assigned to functions such as confirmation of operation information and editing of setting items. Here, an example of selecting "F40" is shown. This "F40" is a function code for selecting an inverter.

In FIG. 5, the normal state is a state in which the operating state is displayed on the display unit 35 (denoted as normal state), and by pressing the switch button (determination) Et, the function code selection state for each setting item is displayed. transition to

In the function code selection state (denoted as function code selection state), the function code is displayed on the display unit 35, and the function code is displayed by pressing the switch button (up scroll) Up or the switch button (down scroll) Dn. become selectable. In the figure, the function code is "F01" -> "F02" -> ... -> "F40", and the function code "F40" is selected. By pressing the switch button (determination) Et in this state, the setting change state is entered.

In the setting change state (denoted as setting change state), the hoisting inverter or the traversing inverter is selected. In this case also, the display of the inverter is switched by operating the switch button (up scroll) Up and the switch button (down scroll) Dn. By depressing the switch button (determination) Et in this state, the value displayed on the display unit 35 is stored.

In addition, when the switch button (cancel) Cn is pressed in the setting change state, the changes made by the switch button (up scroll) Up and switch button (down scroll) Dn are discarded, and the state shifts to the function code selection state. Further, by pressing the switch button (cancel) Cn in the function code selected state, the normal state is entered.

Next, an example of the configuration of the motion information conversion unit 32 will be described using FIG. The operation information conversion unit 32 converts the address of the setting item, the change unit of the setting value, the setting range, the hoisting/

traversing inverters

16, 17, and other inverters to the hoisting/

traversing inverters

16, 17, and other inverters. , an error code for each error item, and a unified error code for the hoisting/

traversing inverters

16, 17 and other inverters are stored in an address map. It should be noted that these specific usage methods will be described later.

As shown in FIG. 5, by selecting an address suitable for the model of the inverter to be used from the inverter selection function, even if the manufacturer and model of the inverter are different, the above-mentioned relationship of setting items can be achieved. It enables operations such as sending information to the selected inverter and displaying an error code.

Next, as an example, processing from changing the set value of the inverter operation information to transmitting the set value will be described using FIG. In addition, please also refer to the description of FIG. 6 as needed.

<<Step S10>>
First, in step S10, a mode for changing set values is selected using the method shown in FIG. If a mode is selected, it will transfer to step S11.

<<Step S11>>
In step S11, the setting values stored in the storage unit 33 are updated. When the setting value is updated, the process proceeds to step S12.

<<Step S12>>
In step S12, it is determined whether or not the inverter address map shown in FIG. 6 has been selected. If the inverter address map has not been selected, the process proceeds to step S13. On the other hand, if the inverter address map is selected, the process proceeds to step S14.

<<Step S13>>
Since the address map is not selected in step S12, an error is displayed by the display unit 35 in step S13 (see FIG. 4). When the error display is executed, it exits to the end and waits for the next startup.

<<Step S14>>
Since the address map is selected in step S12, the address of the setting items shown in FIG. 6 is selected. When the setting item address is selected, the process proceeds to step S15.

<<Step S15>>
Next, it is determined whether or not the setting value updated in step S11 is within the setting range of the setting value in the inverter selected in step S14. If it is determined that it is not within the set range, the process proceeds to step S16. On the other hand, if it is determined that it is within the set range, the process proceeds to step S19.

<<Step S16>>
Since it is determined in step S15 that it is not within the set range, it is determined in step S16 whether or not the maximum value of the set range is exceeded. If it exceeds the maximum value, the process proceeds to step S17, and if it is not the maximum value, it is regarded as the minimum value, and the process proceeds to step S18.

<<Step S17>>
Since it is determined in step S16 that the maximum value of the set range is exceeded, in step S17, the set value is replaced with the maximum value of the set range and set. After replacing the set value with the maximum value, the process proceeds to step 21 .

<<Step S18>>
Since it is regarded as the minimum value of the setting range in step S16, the setting value is replaced with the minimum value of the setting range and set in step S18. After replacing the set value with the minimum value, the process proceeds to step 21 .

<<Step S19>>
Returning to step S15, since it is determined in step S15 that the set value is within the set range, it is determined in step S19 whether conversion of the set value is necessary. If it is determined that conversion of the setting value is unnecessary, the process proceeds to step S21. On the other hand, if it is determined that conversion of the setting value is necessary, the process proceeds to step S20.

<<Step S20>>
Since it is determined in step S19 that the setting values need to be converted, the setting values are converted in step S20. The conversion of the setting value is executed by the action information conversion unit 32 according to the change unit value, as will be described later. The conversion function by the operation information conversion unit 32 is a function for converting a set value into a setting value that can be used by the selected inverter. This step S20 will be described later with reference to FIG. After executing the conversion of the setting value, the process proceeds to step S21.

<<Step S21>>
In step S21, transmission data is created using the newly set setting values. In this case, the address of the setting item selected in step S14 is added to the setting value to create transmission data. After creating the data for transmission, the process proceeds to step S22.

<<Step S22>>
In step S22, the transmission data created in step S21 is transmitted to the selected inverter via the communication section . When the transmission is completed, it exits to the end and waits for the next start.

Next, the conversion of the set values in step S20 will be explained using FIG. In step S20, when changing the set value of the inverter, the set value of the storage section 33 is converted into a set value adapted to the change unit corresponding to the inverter selected by the inverter selection function.

In FIG. 8, for example, when the hoisting inverter 16 is selected and the setting of the acceleration time is changed to "3 seconds", the data (A) in the storage unit 33 is set to " If it is set to "0.1 second", the set value will be "30" from "3 seconds = 0.1 second (change unit) x 30 (set value)".

However, the change unit of the hoisting inverter connected to the host control means 30 is different from the change unit (0.1 second) stored in the storage unit 33 of the host control means 30, and the data of the hoisting inverter ( As shown in B), if the change unit is set to "0.01 seconds", the set value will be "300" from "3 seconds = 0.01 seconds (change unit) x 300 (set value)". Become. Here, the address “008” is the address of the setting item given to the hoisting inverter 16 . In this manner, the operation information conversion unit 32 can convert the set value in accordance with the change unit of the selected inverter.

Therefore, as shown in transmission data (C), transmission data with an address of "008" and a set value of "300" is transmitted from the communication unit 34 to the hoisting inverter 16 to the hoisting inverter 16. It will be done. As a result, the hoisting inverter 16 is operated with the acceleration time set to 3 seconds.

In this way, the operation information conversion unit 30 has at least a function of specifying an inverter and a function of converting the set value of the operation information of the specified inverter into a set value suitable for the inverter. As a result, even when using a general-purpose inverter, it is possible to solve the problem of requiring a lot of man-hours to set operation information.

Next, I will explain the unified error code. The host control means 30 periodically transmits operation commands and receives operation information to the hoisting inverter 16 and the traversing inverter 17 via the communication unit 34 .

Here, the operation command is a command related to motor control such as forward rotation, reverse rotation, and stop of the drive motor, frequency command, and the like. The operational information is information that can be detected by the inverter, such as the output frequency, output current, DC voltage, and error detection state of the drive motor.

The upper control means 30 acquires an error code output by the hoisting inverter 16, for example, when the hoisting inverter 16 detects an error. Then, the operation information conversion unit 32 identifies a unified error code corresponding to the acquired error code from the error item of the selected hoisting inverter 16, stores it in the storage unit 33, and displays it in the display unit 35. display in .

A specific example of the error conversion map of the motion information conversion unit 32 is shown in FIG. For example, when the hoisting inverter 16 is selected and the hoisting inverter 16 detects an "acceleration overcurrent error", the host control means 30 outputs the error code "16" from the hoisting inverter 16. to get

Then, the operation information conversion unit 32 outputs the unified error code "E10" corresponding to the acquired error code "16" in the error conversion map of the hoisting inverter 16, and outputs the error code "E10". A current error is specified, and this is stored in the storage unit 33 and displayed on the display unit 35 .

Here, the error codes "16" to "18" of the hoisting inverter 16 are defined as a unified error code "E10", and the error codes "32" to "34" are defined as a unified error code "E11". Code "81" is defined as a unified error code "E12". Similarly, the error codes "1" to "4" of the traverse inverter 17 are set to the unified error code "E10", and the error codes "7" to "15" are set to the unified error code "E11". "9" is the unified error code "E12". Other inverters are similar.

Therefore, it is possible to solve the problem that it takes time and effort to check the error code of each inverter because it is possible to look at the unified error code instead of the error code of each inverter.

Here, a display unit 35 having a display function and an operation unit 34 having an operation and setting function, which constitute the host control means 30, are provided in a display terminal 25 connected via a cloud server 24. Also good. In other words, by executing the display processing of the display unit 35 and the operation and setting processing of the operation unit 34 on the display terminal 25 via the cloud server 24, it is possible to remotely confirm error information, check function codes, and set values. etc. can be changed, and there is an effect that the operation and maintenance of the crane device are facilitated.

According to this embodiment, the setting work of the general-purpose inverter can be done only by changing the setting of the host control means, and there is no need to consider the difference for each inverter.

As described above, the present invention includes a plurality of driving motors including at least a hoisting motor and a moving motor, a general-purpose inverter for controlling each driving motor, and each inverter connected via a communication unit, In a crane apparatus comprising high-level control means for controlling inverters, the high-level control means comprises operation information conversion means for converting operation information into operation information corresponding to operation information of each inverter. .

According to this, in using a general-purpose inverter, it is possible to provide a crane device that can reduce the number of man-hours for setting operation information and can easily check the operation information.

It should be noted that the present invention is not limited to the several embodiments described above, and includes various modifications. The above embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the described configurations. Moreover, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Other configurations can be added, deleted, or replaced with respect to the configuration of each embodiment.

DESCRIPTION OF SYMBOLS 1... Crane hook, 2... Wire rope, 3... Hoisting induction motor, 4... Hoisting drum, 5... Traverse induction motor, 6... Traverse wheel, 7... Traverse girder, 8... Traverse induction motor, 9... Traveling wheels 10 Traveling girder 11 Hoisting/traverse inverter control device 12 Operation input device 13 Traveling inverter device 14 Induction motor brake 15 Hoisting/traverse inverter control unit DESCRIPTION OF SYMBOLS 16... Hoisting inverter, 17... Traversing inverter, 18... Traveling inverter control part, 19... Traveling inverter, 20... Communication line, 21... Encoder, 22... Communication part, 23... Communication line, 24... Cloud, 25 Display terminal 30 Host control means 31 Control unit 32 Motion information conversion unit 33 Storage unit 34 Communication unit 35 Display unit 36 Operation unit 33 Rotation detection unit.

Claims

A plurality of driving motors including at least a hoisting motor and a moving motor, a general-purpose inverter controlling each of the driving motors, and a host controller connected to each inverter via a communication unit and controlling the inverter. In a crane apparatus comprising:
The crane apparatus is characterized in that the host control means comprises operation information conversion means for converting operation information into operation information corresponding to operation information of each of the inverters.
In the crane device according to claim 1,
The crane apparatus, wherein the operation information conversion means has at least a function of specifying the inverter and a function of changing a set value of the operation information of the specified inverter.
In the crane device according to claim 2,
The crane apparatus, wherein the motion information conversion means has a function of converting a set value relating to the number of pulses of the encoder input to the rotation detector, and converts the set value.
In the crane device according to claim 1,
The operation information conversion means has an error conversion map storing error codes of the respective inverters and a unified error code that unifies the error codes, and converts the error codes detected by the inverters into the unified error code. A crane device characterized by converting and outputting.
In the crane device according to any one of claims 1 to 4,
A display unit having a display function and an operation unit having an operation and setting function, which constitute the upper control means, are provided in a display terminal connected via a cloud server. Device.